Advanced cooperative defensive military tactics, armor, and systems

ABSTRACT

This invention provides impact detection and vehicle cooperation to achieve particular goals and determine particular threat levels. For example, an impact/penetration sensing device may be provided on a soldier&#39;s clothing such that when this clothing is impacted/penetrated (e.g., penetrated to a particular extent) a medical unit (e.g., a doctor or medical chopper) may be autonomously, and immediately, provided with the soldiers location (e.g., via a GPS device on the soldier) and status (e.g., right lung may be punctured by small-arms fire).

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional Pat. No.60/560,435 filed on Apr. 7, 2004 and entitled “Advanced CooperativeDefensive Military Tactics, Armor, and Systems,” which is herebyincorporated by reference herein in its entirety.

BACKGROUND OF THE INVENTION

The U.S. military is getting ready to revolutionize its force—withrobots. Currently, such robots only have minimal functionality. However,there is a tremendous need for autonomous military vehicles withenhanced functionality. It is therefore desirable to constructautonomous military vehicles with improved functionality. Accordingly,it is also desirable to integrate such enhanced systems and methods intocommercial applications.

SUMMARY OF THE INVENTION

An autonomous military vehicle (e.g., a land-based, water-based,air-based, or space-based vehicle) is provided that is operable todefend, for example, a package (e.g., a location, person, or vehicle).In one embodiment, a location (e.g., a Global Positioning System (GPS)signal) is provided to the defensive vehicle. Such a GPS signal maychange over time (e.g., a person walking with a GPS receiver maycommunicate this GPS signal to the defensive vehicle at a deliveryrate). The defensive vehicle may then protect the package from attack.The defensive vehicle may be provided with different behaviors dependenton a situation or action event. For example, the defensive vehicle maybe in a “follow and shield” behavior until the package, a differentvehicle, or the defensive vehicle is attacked. At this point, thebehavior of the defensive vehicle may change to, for example, a“counter-offensive”, “shield and escape”, or “protect and defend”behavior.

Numerous methods of sensing an attack are provided. For example,impact-sensing armor, or clothing, may be provided. Such armor, orclothing, may determine, for example, when a hit occurs, the directionthe attack came from, the trajectory used, and the type of attack (e.g.,a 10 mm gunshot). Such an attack sensing scheme is extremely effectivebecause only in rare circumstances will this type of sensing fail (e.g.,friendly fire). However, if a defensive vehicle is in a “shield” mode,even friendly fire may not cause any harm as the defensive vehicle mayshield the package from the friendly fire without causing harm to theorigin of the friendly fire. Other types of attack sensing include ascheme with one or more methods of, for example, heat sensing, motionsensing, residue sensing, and sound sensing.

Impact-sensing schemes of the present invention may be utilized innumerous useful applications. For example, a sheet of supplemental armormay be stored in a vehicle and deployed to a particular portion of thevehicle if an impact occurs. In this manner, the vehicle may have atleast some of the benefits of a heavy-armored vehicle (e.g., ability totake multiple hits) while simultaneously having at least some of thebenefits of a light-armored vehicle (e.g., higher mobility). As inanother application, if an autonomous vehicle determines that it isdamaged on one side then the autonomous vehicle may show its aggressoran undamaged size. Putting this application into perspective, supposethat the vehicle is an autonomous armored personnel carrier. If a rocketpropelled grenade damages one side of the autonomous vehicle travelingin one direction, the vehicle may sense this impact, turn 180 degrees(e.g., turn around and drive in reverse), and continue driving in thatsame direction. Yet, now the undamaged side of the vehicle is facing thedirection of attack. Circuitry, such as memory and a processor) may beincluded in the vehicle (and coupled to the impact sensors) to keeptrack of damage to the vehicle such that the vehicle may autonomouslymake decisions on this information.

Similarly, impact sensing clothing may be utilized in a number ofapplications. For example, an impact sensing system may be provided in abullet proof vest and this information may be shared withdefensive/offensive vehicles such that an impact on the bullet proofvest changes the behavior of the defensive/offensive vehicles. Thisinformation may also be utilized by other sources such as, for example,ground commanders, other soldiers, or manned vehicles (e.g., fighterjets).

Without bullet-proofing in clothing, impact sensing clothing may play avital role in saving the lives of priceless soldiers. The instant abullet hits impact-sensing clothing, a signal may be sent to, forexample, a medical center, ground commander, nearby soldiers, medicalvehicles (e.g., choppers) that is indicative of vitals information suchas, for example, the soldier's name, weight, height, allergies, impactarea, impact type, impact speed, and location of impact. Software may beprovided that automatically prioritizes wounded soldiers for pickup/aid.

The defensive vehicles of the present invention may be used to have oneor more offensive, or any other kind, of behaviors. Such autonomousvehicles may be miniaturized and attached onto other vehicles. Forexample, a number (e.g., 4) of defensive vehicles may be attached to atank or personnel carrier. If the tank comes under small arms fire, oneor more of the defensive vehicles may “eject,” or be “ejected”, from thetank and attack in the direction of the origin of the small-arms firewhile the tank uses this ejected vehicles aggression as cover aggression(e.g., cover fire) to maneuver and escape.

A gun firing a projectile may be sensed as the gun is fired or as theprojectile moves through a monitored portion of a three-dimensionalspace (e.g., the space in front of a person). The projectile may bedistinguished from other movement based on the velocity of theprojectile (or a variety of other methods). A shield may then bedeployed before the bullet hits a target.

A smart missile is also provided and may be used, for example, as adefensive/offensive counter-measure during an attack of a predeterminedpackage (e.g., a troop transport). Such a defensive missile (or otherprojectile) may be relatively large—similar in size, for example, to aPredator autonomous aircraft. Missile attacks from battleships takerelatively long times to program, initiate, and hit a programmed target(e.g., 30 minutes). An enlarged missile may carry extra fuel. Themissile may alternatively carry an engine. Such a missile could beprogrammed to fly in a pre-determined path (e.g., a loop) above or neara battlefield or selected targets. Thus, when a target is chosen, thesmart missile may already be en-route to the target (or at least at ashorter route away from the target than a carrier, or ground, basedmissile).

Such a weapon could have been especially useful during the 2003 Iraqiwar. Here, President Saddam Hussein was allegedly determined to be in aparticular area. A ship-based missile allegedly took 30 minutes toprogram, launch, route, and travel before the missile hit the target. Bythis time, Saddam Hussein had allegedly left the scene. The reduction ofcommand-to-result time is critical (the time it takes for a command tobe carrier out).

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects and advantages of the present invention willbe apparent upon consideration of the following detailed description,taken in conjunction with accompanying drawings, in which like referencecharacters refer to like parts throughout, and in which:

FIG. 1 is an illustration of a defensive tactics topology constructed inaccordance with the principles of the present invention;

FIG. 2 is an illustration of an improved armor system constructed inaccordance with the principles of the present invention;

FIG. 3 is an illustration of an impact-detection system constructed inaccordance with the principles of the present invention;

FIG. 4 is an illustration of a cooperative vehicle cluster constructedin accordance with the principles of the present invention;

FIG. 5 is an illustration of a cooperative vehicle cluster constructedin accordance with the principles of the present invention;

FIG. 6 is an illustration of a medical application topology constructedin accordance with the principles of the present invention; and

FIG. 7 is an illustration of a secondary application deployment systemconstructed in accordance with the principles of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows tactics topology 100 that includes autonomous vehicle 110.Autonomous vehicle 110 may be configured to protect a person, vehicle,group of people, group of vehicles, or a location (e.g., a specificlocation or an area). Autonomous vehicle 110 may also be configured toprotect itself or a portion of itself (e.g., sensitive components like agas tank or passenger compartment). Thus, autonomous vehicle 110 may beconfigured to protect package 144. Accordingly, package 144 may be oneor more objects, persons, or locations that are desired to be protected.Multiple autonomous vehicles 110 may be provided in communication witheach other to one of these autonomous vehicles, work together to protectthis group of autonomous vehicles, or protect one or more packages suchas package 144.

Each autonomous vehicle may include circuitry (e.g., a behavioralsystem) for receiving, processing, storing, and communicating behavioraldata. The behaviors of one or more autonomous vehicles may change basedon such behavioral data. For example, the behavior of an autonomousvehicle my be changed from a behavior such as a defensive posture (e.g.,a guard) to an offensive posture (e.g., an attacker) to a fleeingpostured (e.g., an escapist) to a suicide offensive posture (e.g., asuicide bomber) based on such behavioral data.

Behavioral data may be derived from a variety of data originating from avariety of sensors. Each such data may be utilized by a behavioralsystem to change the behavior of the device, object, or person thathouses, or is in communication with, the behavioral system. For example,weather data may originate from a temperature sensor (e.g., thermometerproducing electrical signals) precipitation/humidity sensor, lightsensor (e.g., photodiode or phototransistor), and/or wind sensor incommunication with, or provided in, a behavioral system. This data may,for example, be utilized (e.g., weighed) in a function that outputs(e.g., based on if a threshold is met) behavior data. Using the datapreviously described, the amount of light may be utilized when to attack(e.g., at night) and when to stay defensive (e.g., during the day).Alternatively, the amount of light may be utilized to determine where toplan an approach on an offensive target (e.g., by following the shadows)or where to protect a target (e.g., where to hide a target).Precipitation data may be utilized, for example, in a similar mannersuch as light data to determine when to attack (e.g., when it is or isnot raining). Temperature data may be utilized in a variety of ways andserve, for examples, as indicators of nearby explosions andshaded/unshaded areas that are used by a behavioral system. A windsensor may also be utilized to determine behavior and be provided as adata input to a behavior system. Wind, for example, may provide abehavior system with information as to how air-based backup wouldoperate (to determine if to hold a position and wait for the air-basedattack or retreat). A wind detector could also be utilized to determinenearby explosions.

Numerous types of sensors may be employed. Time data may originate froma clock in communication with, or provided in, a behavioral system maybe utilized to sync signals, execute commands in unison with otherbehavioral systems, or determine the time of day. Time data may also beutilized to derive behaviors of, for example, aggressors. For example,an autonomous vehicle may “pick up” on a pattern of attacks fromaggressors at a particular time of day (similar to how directional datamay be utilized to determine a common direction that attacks areoriginating from). Thus, a person or object may use this derivedbehavioral data of unknown persons or objects to determine either ageneral behavior or a behavior towards a specific, or a group of,unknown persons. Thus, if attacks are occurring every hour on the hour(or a particular hour of the day) the person or object (e.g., anautonomous vehicle) may “pick up” on this pattern and react accordingly(e.g., move to a different location before the attack begins to have animproved defensive or offensive position).

Behaviors of an autonomous vehicle may be configured to differ dependingon the type of person, type of vehicle, group of vehicles and/orpersons, in its proximity (which could be far if the person/vehiclecould affect a battle or offensive/defensive movement from a fardistance). Thus, the behavioral system may include a database, in whichbehavior profiles may be set up for any pre-known, or sensed, entity.Such third party behavioral profiles may be utilized with data sensed bythe system (e.g., time data, impact data, nearby friendly entitybehavior data) to modify its own behavior in general (or to the entityassociated with that third party behavior profile), update the behaviorprofile of the third party, or update behavioral data (e.g., for boththe third party and the autonomous vehicle) on other friendly behavioralsystems it is in communication with.

As stated, multiple autonomous vehicles may be employed. For example,autonomous vehicles 151-154 may be programmed to each “shield” vehicle155 from a particular “line-of-sight” (e.g., in a particular direction).Autonomous vehicles 151-154 may communicate with package 155 by, forexample, obtaining positioning data (e.g., GPS positioning data) frompackage 155 and providing package 155 with data on how to operate (e.g.,package 155 may be told to “STOP” or “RUN” when package 155 is underattack). Similarly, package 155 may provide autonomous vehicles 151-154with data on how to operate. Package 155 may also obtain data (e.g.,positioning data) from autonomous vehicles 151-154. Such communicated,or relied upon, data may be direct commands/decisions (e.g., “RUN,”“STOP,” “TURN,” “SLOWLY APPROACH,” or “FIRE”) or information utilized togenerate direct commands/decisions (e.g., behavioral data).

Autonomous vehicles 151-154 do not necessarily have to be autonomous.Any function (e.g., driving) may be manually operated at any time orduring a particular threat level (e.g., an attack on one side or anattack on multiple/all sides). Package 155 may be, for example, a person(e.g., the president), land-based vehicle (e.g., a personnel carrier),water-based vehicle (e.g., a boat), space-based vehicle (e.g., asatellite), or air-based vehicle (e.g., a missile, plane, orhelicopter).

Vehicles 151-154 and package 155 may autonomously drive in a particularformation during a particular threat level for the U.S. (e.g., DEFCON2), threat level for an enemy entity (e.g., enemy platoon), or threatlevel for a particular event (e.g., the threat level to trigger adefensive posture may be different when attacking versus whentraveling). Threat levels may, for example, be thresholds that determinethe behavior of an entity. For example, during an attack, small-armsfire may be associated to a number (e.g., 10) while more aggressive firesuch as rocket propelled grenades are associated a higher, or differentnumber, (e.g., 20). Two threat levels separated by a number betweenthese two (e.g., 15) may cause the entity to operate differentlydependent on if it is being attacked, or has the possibility of beingattacked, by small-arms fire versus rocket propelled grenade fire.

Damage and/or impact information for vehicles 151-154 and package 155may be shared by one another. For example, vehicle 153 may update itsdamage, hit, location, status, behavoir, or other information on memorydevices stored on vehicles 151-152, 154, and package 155 periodically(e.g., every 5 seconds), continuously, or when an event occurs (e.g.,when damage occurs or when a driving hazard is faced). Vehicles 151-154and package 155 may be programmed to respond to such events dependingon, for example, the event.

For example, if threat 160 is sensed (e.g., threat 160 shoots aprojectile that is detected, impacts, and/or damages vehicle 151-154 orpackage 155) then one or more vehicles 151-154 or package 155 mayautonomously respond to threat 160. For example, vehicles close tothreat 160 may shield package 155 from threat 160 and attack threat 160.Furthering this example, vehicles 151 and 153 may be autonomously drivento (or prompted to be manually driven to) locations 171 and 173,respectively, where vehicles 151, 153, and 154 may attack threat 160.Furthering this example even more, the speed of vehicle 152 and package155 may be increased and the direction of vehicle 152 and 155 may bechanged if threat 160 is only determined to be from a particulardirection. Persons skilled in the art will appreciate that numerousresponse techniques may be provided to one or more threat in accordancewith the principles of the present invention.

As stated above, a behavioral system, such as behavioral system 120, maycommunicate with an entity or be included in/on an entity. For example,behavioral system 120 may be housed (e.g., protected inside of andcontrol the autonomous operation of vehicle 120). Behavioral system mayinclude, for example, any type of sensor 122, transmitter 123, manualinput and/or display 124, processor 121, receiver 125, controllers 126,and memory 127.

Sensors 122 may be any type of sensor including, for example,directional sensors, altitude sensors, inertial sensors, locationsensors (e.g., GPS receiver), temperature/heat sensors, light sensors,feedback sensors from components of the host entity (e.g., feedbackinformation from guns, engines, wheels), impact and damage sensors,entity detection sensors such as radar, metal sensors (e.g.,electromagnetic field generators that sense types of metals and RadioFrequency Identification (RFID) sensors), precipitation sensors, timesensors, noise sensors, speech recognition sensors, spectrometers,motion sensors (e.g., sensors that may detect the motion of a bullet inits surroundings), or any other type of sensors.

A bullet recognition sensor may comprise, for example, a digital moviecamera (or a digital camera) with a high shutter speed (e.g., 10,000fps). The images from such a digital camera may be fed through acomputer (e.g., a processor), since the speeds of and sizes of differenttypes of projectiles are known, the images can be compared and thedifferences noted. At such a high shutter speed, normal movements mayappear nearly motionless. Thus, the image processing may not be ademanding process. Substantial differences may be very easy to spot andthese differences can be compared in, for example, size, shape, and/orspeed to determine the type of projectile. Moving the camera slightlyduring operation may provide a better perspective of where theprojectile originated from, its trajectory, where the projectile willimpact, and the type of damage that may be done (types of projectilesand related information such as velocity, size, and weight may be storedin memory, such as placed in a database, and may be retrieved/pulled by(or transmitted/pushed to) the sensor or behavioral system 120). Thesensor may be in a continual loop, placing images in a buffer, analyzingthe images that define a period of time, and then erasing those images.The sensor may be initiated when an impact is sensed in order todetermine trajectory and may operate until a period of time withoutactivity, such as an impact or hostile or unusual event, occurs (such anembodiment may conserve power). Such images may transmitted (e.g.,immediately after the images are taken) to a different entity or aremote processing facility. Such transmitted images may be savedindefinitely and processed if, for example, the transmitting entity isdestroyed before local processing occurs. Additionally, the results ofimage processing for the purpose of very-fast-movement (VFM) detectionmay be sent to other entities after the results are processed.

One or more transmitters, e.g., transmitter 123, may be coupled toprocessor 121 and/or the components of behavioral system 120 or thecomponents of vehicle 110. Such transmitters may include wirelesstransmitters and wire-based transmitters. Vehicle 110 may also be, forexample, a backpack or a backpack, impact/damage bulletproof vest systemor a backpack, impact/damage sensing clothing system.

Manual input (e.g., a keyboard or mouse) and/or manual outputs (e.g., adisplay) may be coupled to behavioral system 120 or vehicle 110. Suchmanual inputs/outputs may be, for example, utilized for manual overrideof vehicle 110. Such manual inputs may be included inside of vehicle 110(such that a passenger, gunner, or driver may take control of vehicle110 operations) or external to vehicle 110 (e.g., in a commandfacility).

Receiver 125 may be included and may be a wire-based receiver or awireless receiver. Signals may be transmitted throughvoice-over-internet, data-over-internet (e.g., via the internet),wireless USB, wireless LAN, radio signals, satellite communications,cellular communications, WiFi, or any other wireless or land-basedcommunication system.

Controllers 126 may be included for a variety of applications. Forexample, controllers 126 may be sent signals, and provide feedback to,processor 121. Controller 126 may include a controlled device. Thus,controller 126 may be, for example, a controller and actuator. Theactuator may be coupled to other components of vehicle 110 such as, forexample, a gun. The controller then may, following the example,manipulate the direction that the gun is pointing. The component beingcontrolled (either directly or indirectly) may also contain a variety ofsensors and may provide feedback from these sensors to the controller orprovide feedback directly. Such feedback may then be provide toprocessor 121. Using the example of the gun, feedback may be aconfirmation of the direction that the gun is pointed in (such that theprocessor is not burdened with calculating the direction the gun ispointed in but is provided the direction by a sensor located on the gunand coupled to the controller). Following the example even more, thefiring device for the gun may be coupled to this, or a differentcontroller and feedback information may include, for example, the statusof the gun (e.g., the heat and number of bullets left). All of thisinformation may be utilized to determine the best behavior of vehicle110 or other entities such as vehicles 151-154 (e.g., the behavior mostlikely to achieve a desired goal).

Memory 127 may be also be included in vehicle 110 (or any other entityof topology 100). Memory 127 may house numerous data structures (e.g.,databases) and associated applications (e.g., database manipulationsoftware) which may be called, utilized, and modified by processor 121.

FIG. 2 shows armor impact and/or damage detection systems 200 that may,for example, detect when a projectile strikes and/or damages a piece ofarmor on a vehicle (e.g., vehicles 151-154 of FIG. 1), packages (e.g.,package 155 of FIG. 1), or a component of a vehicle (e.g., fuel tank,engine, or behavioral system) or package. Any one of the systems 200 maybe used as armor or may form one or more layers on or between armorlayers or other or may form part of a material on a vehicle or package.

System 210 may include any number of portions 211 (e.g., cubes) that mayhouse a substance (e.g., water or air). Pressure sensors, for example,may detect when the substance is disturbed (e.g., leaks out of thehousing) inside of one or more portions 211 to determine if an impact ordamage occurs. In overlying system 210 over the interior or exterior ofa material (e.g., an armor) an inexpensive way of determining damageand/or impacts is provided. Changing the strength of portions 211 maychange the functionality of system 210. For example, fabricatingportions 211 out of a material that may easily by breached (e.g., apolymer such as a plastic) impacts that would not cause damage to theadjacent armor may be detected. Portions 211 may include one or moresensors 213 that are coupled to one or more wires 212. One or more wires212 may provide power, or operating signals, to one or more sensors 213and/or may be provided feedback signals from one or more sensors 213.Wires 212 may be coupled to, for example, a processor of a behavioralsystem or a controller or other system/circuit. Fabricating portions 211on a micrometer or nanometer scale increases the visibility of damageand/or impacts such that the type of projectile may be deduced (e.g., bya microprocessor of a behavioral system) as well as its trajectory.Sensors 210 may alternatively determine whether or not a material isinside of portion 210 (e.g., if a liquid is present or if a level of aliquid is present such as if a portion is full of a liquid).

System 220 may utilize piezoelectric elements on top of armor (orimmediately adjacent to any material) to detect when the armor is bentor an impact occurs that would bend the piezoelectric elements.Particularly, when the armor (e.g., the metal exterior of a car door)bends then the piezoelectric elements may produce an electrical voltagethat may be sensed by sense circuitry on the vehicle (or a processor ofa behavioral system). Such sense circuitry may, for example, communicatesuch information to other circuitry or perform functions on theinformation (e.g., processing circuitry to determine how much the armorbent by determining the magnitude that was sensed and the amount of timeof the impact event). One or more piezoelectric element 222 may beplaced on any material and sensed by sense terminals 221 and 223. Itshould be noted that applying a voltage to sense terminals 221 and 223may cause piezoelectric element 222 to bend. If armor was not damaged,piezoelectric element 222 may not bend against the armor. Thus, applyinga voltage to piezoelectric element 222 may test to see if armor hasfailed (additionally circuitry may also be utilized to determine if thepiezoelectric element moves in such an embodiment).

System 230 may be utilized as, for example, an acoustic sensor. Armormay be divided into regions with sensors placed throughout. Circuitrycoupled to such sensors may be able to, for example, triangulateacoustic vibrations in the armor as a result of an impact to determinethe location of the impact. The size of the vibrations may be utilizedto determine the magnitude of the impact. If damage occurs then thesensors (or wires connecting the sensors) may be damaged to the extentthat they are inoperable (or inoperable to communicate with each other).Such information may be utilized to distinguish the difference between,for example, an impact and damage. Similar to system 210, system 230, ormultiple systems 230, may be fabricated on any scale such as amicrometer or nanometer scale. Any number of sensors 231-235 may beemployed in any array configuration or sets or array configurations.Sensors 231 and 235 may alternatively be utilized to sense theconductance of the material they are coupled to. The conductivity ofmetal may change, for example, when that metal changes shape.

System 240 may be utilized to determine, for example, when light isemitted through armor. Thus, when an impact penetrates a piece of armor,a light-sensing component may be utilized to determine that such apenetration occurred. Multiple light sensors 240 may be arrayed togetherand utilized to determine where damage occurs. The operation of lightsensors 240 may be periodically checked to determine if they areoperational (e.g. have not yet been destroyed by damages) to obtaindamage information of the internals of a vehicle. Any impact/damagedetection system may be utilized on any component of, for example, avehicle or other structure.

System 250 may be utilized, for example, with one or more grids of wiresin order to detect and locate an impact. For example, damage to a gridof wires may cut such wires such that electricity may not flow throughone or more wires that make up the grid. Providing a current or voltageto a wire and sensing that current or voltage at the other end of a wiremay be utilized to determine if that wire has been cut (e.g., by animpact). Multiple wires could be sensed in this manner in order totriangulate, or just determined, the location (and size) of damage).Multiple layers could be utilized to determine the strength of theimpact (e.g., a one or more layers may be placed on the exterior of thearmor while one or more layers are placed on the interior of the armor).In determining the depth of damage, and the change of the damage profileto each layer, the trajectory of the projectile may be determined (aswell as the type of projectile inferred and used to affect the behaviorof an autonomous vehicle). The grids of multiple layers (e.g., layers251 and 252) may have the visibility on the nanometer or micrometerscale (e.g., the grids of the layers may be nanometer or micrometer insize). Any number of layers (e.g., hundreds) may be utilized) and may bespaced in any manner (e.g., adjacent to one another or in between othermaterials such as pieces of Kevlar).

Persons skilled in the art will appreciate that numerous impactdetecting methods may be utilized in accordance with the principles ofthe present invention. For example, system 220 and system 250 (or anynumber of schemes of FIG. 2) together on a singlevehicle/person/package/structure.

FIG. 3 shows impact and/or damage detection systems 300. Persons skilledin the art will appreciate that any system that detects damage alsodetects impacts because damage may not occur without impacts. Generally,schemes 300 may include threat detection systems. For example, threat310 may be detected, for example, by motion 312 or heat 311. Projectile320 may be detected by, for example, heat 321, motion, or residue 322.Projectile 320 may take on different trajectory (e.g., if it has morepropellant or it has a different trajectory for a variety of reasons).For example, projectile 320 may impact armor 350 while followingtrajectory 332. Projectile 341, alternatively, may impact armor 350while following trajectory 342.

An impact detection scheme may utilize the information gathered from animpact and utilize this information to determine where the threat iscoming from. As in one embodiment, a vehicle may recognize an impact ona particular side as having a threat on that particular side. Ifmultiple threats are sensed, the vehicle may determine what threat ismore dangerous (and/or either autonomously respond, prompt a user of thesituation, and/or communicate the situation to othervehicles/packages/remote facilities). In this manner, threats may beprioritized. Trajectory 352 may provide a impact crater that issymmetrical. This symmetry, depth, size may be sensed (e.g., from alarge number of piezoelectrics located around the crater) to determinewhere the impact came from (e.g., close proximity), what type ofprojectile may have been used (e.g., small arms fire or propelledgrenade), and how far away the threat may be (e.g., 50 feet). Any threatinformation may be utilized by a behavioral system.

For example, suppose that a vehicle is hit twice. First, the vehicle ishit by trajectory 352. Second, the vehicle is hit by trajectory 355. Thevehicle (or processing on the vehicle or elsewhere) may determine with aparticular probability that, for example, the same projectile was used.The change in trajectory could be determined to be the result of, forexample, the position of where trajectory 355 originated from. Thisinformation could be used, for example, to automatically cause thevehicle to return fire, prompt a user (e.g., driver or gunner) with theinformation, or do a variety of functions. In this example, armor 351and 354 would have been the same armor only at different times.

Suppose that a projectile strikes armor 357 at trajectory 358. As aresult, the impact crater may be non-symmetrical. This non-symmetry maybe sensed (e.g., by piezoceramics located around the crater) andutilized to determine probably trajectory or projectile type data. Suchinformation may be immediately and autonomously communicated to other“formations” of autonomous or manually driven vehicles (e.g., two nearbyairplanes) or a nearby commander or a headquarters.

Armor may be provided to have a non-smooth surface in order to betterdetermine a trajectory of a projectile. For example, armor 361 or 362may be provided with pyramid type shapes on or made out of armor. As aresult of armor 361 and 362 a processing unit or impact-sensing schememay be able to more easily be configured to aid in a trajectory orimpact determination function.

FIG. 4 illustrates shows cooperative vehicle cluster 400 that includesmother vehicle 410 and children vehicles 420, 430, 440, 450 that mayinclude communication devices 421, 431, 441, and 451, respectively, tocommunicate with, for example, communications device 410. The childrenvehicles may be stowed on a mother vehicle and released, for example,when an impact occurs or a threat is detected. Children vehicles may bein a sleeping mode or may be coupled to the power supply of the mothervehicle while, for example, in stow. Such children vehicles may becontrolled autonomously from internal processing systems or a processingsystem on mother vehicle 410. All vehicles of FIG. 4 may communicatewith other systems not shown in FIG. 4. For example, all vehicles maycommunicate with a central command center. In this manner, a childvehicle may be controlled by the central command center if, for example,the mother vehicle is disabled/destroyed. Persons skilled in the artwill appreciate that the defensive tactics constructed in accordancewith principles of the present invention may be utilized as offensiveones. For example, instead of sensing a threat, the vehicles of FIG. 4may sense a target (or be given a target from a gunner or othersystem/person) and the children vehicles may be deployed to attack thetarget either alone or in combination with the mother vehicle.

FIG. 5 illustrates cooperative vehicle cluster 500 that may include, forexample, missile 530, helicopter 510, submarine/torpedo 532, ship 531,or tank 520. Generally, such vehicles/persons/devices may be, forexample, air-based, water-based 530, space-based, land-based or any typeof vehicles/persons/devices. Any vehicle or entity of system 500 mayinclude any number of behavioral systems.

FIG. 6 shows medical application 600 that may be utilized, for example,with people. For example, soldiers may wear clothing that detects whenan impact occurs (e.g., includes a wired-grid layer orpiezoelectric-based layer) and immediately notifies a medicalunit/center of the impact and/or damage. Particularly, soldiers 612,614, and 616 may be in hostile environment 610. Soldier 616 may be hitand processing circuitry (e.g., located on one or more soldiers) maydetermine such a hit and provide information to medical unit 620. This,or additional, processing circuitry may be utilized to determine, orretrieve from a remote database, specifics/personal information 632 ofthe soldier that was hit (e.g., name, age, weight, previously knownmedical conditions, allergies, favorite movie). The location of theimpact and/or damage may also be communicated in addition to its sizeand probable depth. The impact may be virtualized on virtual character635 as virtual impact 634 and virtual impact data 633. As a result,medical unit 620 may be able to better prepare for treating soldier 616before medical unit 620 comes into contact with soldier 616. Suchinformation may be configured to be displayed by, for example, computer631 or may be posted on the internet or an intranet. One advantage ofapplication 600, for example, may be that the immediate notification ofan injury is autonomously communicated to a medical unit.

Any impact and/or damage information may also be forwarded to nearbyfriendly forces (e.g., autonomous vehicles) such that battle plans maybe revised with information as to where the person was injured and wherethe aggressors are located and what the aggressors are attacking with.Such a system may be utilized on any assets (e.g., an expensiveautonomous vehicle) such that the autonomous vehicle may be recovered(and repaired) before it is fully destroyed. Autonomous medical vehiclesmay be provided to service injured autonomous vehicles. Any autonomousvehicle may share the properties of, for example, a robot and becontrolled partially, or at a particular time or in a particularsituation, by manual input. Thus vehicles may also have input devices inthe form of cameras to relay additional information to such manual userssuch that decisions may be made on good information about the situationthe vehicle is in.

FIG. 7 illustrates secondary application deployment scheme 700 showsvehicle 701 with secondary armor 751, 752, 754, and 755. Upon detectingan impact, one or more secondary armor sections may be deployed in thearea where the impact was detected by, for example, armor disbursementdevices 711-712 and 720. Multiple types of secondary armors anddisbursement devices may be utilized. For example, a single secondaryarmor may be provided on top of a vehicle. As a result, the vehicle maytravel faster than a vehicle with such secondary armor already deployedon more than one side. When the vehicle is hit, or a threat is sensed,the armor may be placed in the direction of the threat or location ofthe impact. Therefore, the vehicle may obtain the advantages of thefully armored vehicle with less weight when attacked from, for example,only a single direction. Such a secondary armor could be relocated bythe disbursement device (or another device) if another portion of thevehicle is attacked. Armor (either secondary or primary) may be, forexample, Kevlar or any type of metal or composite.

As stated previously, damage (or impacts) on a particular side or areaof a vehicle may cause that vehicle to operate differently. For example,if impacts (damage) is sensed near a sensitive, operation criticalcomponent (e.g., a fuel tank) then the autonomous vehicle may sense suchimpacts/damage and turn/move in such a manner that the sensitivecomponents are out of the line of sight of any aggressor (such thatnon-critical components are impacted/damaged).

From the foregoing description, persons skilled in the art willrecognize that this invention provides impact detection and vehiclecooperation to achieve particular goals and determine particular threatlevels. In addition, persons skilled in the art will appreciate that thevarious configurations described herein may be combined withoutdeparting from the present invention. It will also be recognized thatthe invention may take many forms other than those disclosed in thisspecification. Accordingly, it is emphasized that the invention is notlimited to the disclosed methods, systems and apparatuses, but isintended to include variations to and modifications thereof which arewithin the spirit of the following claims.

1-3. (canceled)
 4. A system comprising: a first armed unmanned vehicle;and a second armed unmanned vehicle, wherein said first armed unmannedvehicle detects an attack on said first armed unmanned vehicle, saidfirst unmanned vehicle communicates information regarding said attack,wherein said communicated information includes the location of saidfirst armed unmanned vehicle, said second armed unmanned vehiclereceives said communicated information, and said second unmanned vehicleassists said first unmanned vehicle in defending said first armedunmanned vehicle against said attack.
 5. The system of claim 4, whereinsaid first and second armed unmanned vehicles are land-based vehicles.6. The system of claim 4, wherein said detection of said attack is basedon said first armed unmanned vehicle determining an impact on an armorlocated on said first armed unmanned vehicle.
 7. The system of claim 4,wherein said detection of said attack is based on heat sensing.
 8. Thesystem of claim 4, wherein said detection of said attack is based onmotion sensing.
 9. The system of claim 4, wherein said detection of saidattack is based on sound sensing.
 10. The system of claim 4, whereinsaid detection of said attack is based on residue sensing.
 11. Thesystem of claim 4, wherein said second armed unmanned vehicle shieldssaid first unmanned vehicle from said attack.
 12. The system of claim 4,wherein said second armed unmanned vehicle counter attacks after saidcommunicated information is received by said second armed unmannedvehicle.
 13. The system of claim 4, wherein said second armed unmannedvehicle communicates second information to said first armed unmannedvehicle, wherein said second communicated information includesinstructions on how said first armed unmanned vehicle is to operate. 14.The system of claim 4, wherein said communicated information includesinstructions on how said second armed unmanned vehicle is to operate.15. The system of claim 4, wherein said first and second armed unmannedvehicles are operable to autonomously move in formation.
 16. The systemof claim 4, wherein said communicated information includes damageinformation with respect to said first armed unmanned vehicle.
 17. Thesystem of claim 4, wherein said first armed unmanned vehicle processesan image to detect a projectile.
 18. The system of claim 4, wherein saidfirst armed unmanned vehicle includes a spectrometer.
 19. The system ofclaim 4, wherein said first armed unmanned vehicle includes a speechrecognition sensor.
 20. The system of claim 4, wherein said first armedunmanned vehicle includes radar.